I have set up a program to stop the robot when it is hit. My problem is that I implement the checking of collisions in the Java program for one of the moves I am making and it works, the robot stops. When I tap the robot again it will continue on its motion.
For other moves I am making I am not checking for collisions in the Java program. The reason for this is because I want to test the reaction of the underlying safety in the Kuka controller.
I have in the SafetyConfiguration.sconf with a collision detection category, using a base related TCP-force component. I set the x- positive, x -negative, y- positive , y -negative, z- positive and z- negative each set to 50N.
Now I don't really know how much force I am applying to the robot but when I hit it with increasing intensity I end up getting a message that the robot is not on its planned path but no safety message or e-stop.
So I am worried that I don't have a good safety set up.
I have the reaction set to stop 0.
Maybe I should use Axis Torque monitoring instead. I did not get an E-stop using this when I tried it tough either.